对CAN(Controller Area Network)的高层协议CANopen进行了阐述;对CANopen主从站节点的功能与设置进行了研究。结合实际的混合动力多电动机系统试验台,构建了CANopen主从站节点,实现了基于CANopen协议的多电动机系统实时控制。这一实现方案适用于多数工业自动化应用场合。
This paper studies the extension of LaSalle＇s invariance principle for switched nonlinear systems. Unlike most existing results in which each switching mode in the system needs to be asymptotically stable, this paper allows the switching modes to be only stable. Under certain ergodicity assumptions of the switching signals, two extensions of LaSalle＇s invariance principle for global asymptotic stability of switched nonlinear systems are obtained using the method of common joint Lyapunov function.
A conjecture that the norm of Lyapunov mapping LA equals to its restriction to the symmetric set, S, i.e., ｜｜LA｜｜ =｜｜LA｜s｜｜ was proposed in [1]. In this paper, a method for numerical testing is provided first. Then, some recent progress on this conjecture is presented.
The structure of a canalizing function is discussed. Using a new matrix product, namely semitensor product, the logical function is expressed in its matrix form. From its matrix expression, a criterion is obtained to test whether a logical function is a canalizing function. Then a formula is obtained to calculate the number of canalizing functions. Moreover, an algorithm is presented to generate canalizing functions. Finally, some results obtained are extended to seminested canalizing functions.
